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Refactor URDF and launch files for iiwa robot

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- Updated gripper macros in gripper_macros.xacro to simplify parameters and add Gazebo support.
- Removed unused mesh property in gripper_meshes.xacro.
- Enhanced iiwa7 digital and FRI URDF files with simulation arguments and improved controller setup.
- Added new launch files for Gazebo simulation and universal launch configuration.
- Implemented YAML parameter wrapping for ROS2 in converter.py.
- Introduced a new gz_bridge.yaml configuration for Gazebo to ROS2 topic mapping.
- Cleaned up setting_loader.py and added necessary imports.
This commit is contained in:
Даниил Грабарь
2026-04-08 13:21:18 +10:00
parent 9fb3477466
commit e182f5b7bd
17 changed files with 775 additions and 357 deletions
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src/iiwa_bringup/launch/supported/controllers.launch.py
+117
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@@ -0,0 +1,117 @@
from launch import LaunchDescription
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch.event_handlers import OnProcessExit
from launch.actions import RegisterEventHandler
from launch_ros.actions import Node
from iiwa_utils import converter
def _setup_controllers(context, *args, **kwargs):
robot_name = LaunchConfiguration("robot_name").perform(context)
description = LaunchConfiguration("description").perform(context)
initial_positions_file = LaunchConfiguration("initial_positions_file").perform(context)
controller_path = LaunchConfiguration("controller_path").perform(context)
simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
robot_description = converter.load_robot_description(
model_path=description,
robot_name=robot_name,
xacro_args={"initial_positions_file": initial_positions_file},
)
# СИМУЛЯЦИЯ (Gazebo)
if simulate:
jsb = Node(
package="controller_manager",
executable="spawner",
output="screen",
arguments=[
"joint_state_broadcaster",
"--controller-manager", "/controller_manager",
"--controller-manager-timeout", "30",
],
parameters=[{"use_sim_time": True}],
)
jtc = Node(
package="controller_manager",
executable="spawner",
output="screen",
arguments=[
"iiwa_arm_controller",
"--controller-manager", "/controller_manager",
"--controller-manager-timeout", "30",
],
parameters=[{"use_sim_time": True}],
)
jtc_after_jsb = RegisterEventHandler(
OnProcessExit(
target_action=jsb,
on_exit=[jtc],
)
)
return [jsb, jtc_after_jsb]
# РЕАЛЬНЫЙ РОБОТ (FRI)
else:
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
output="screen",
parameters=[
{"robot_description": robot_description},
controller_path,
],
)
jsb = Node(
package="controller_manager",
executable="spawner",
output="screen",
arguments=[
"joint_state_broadcaster",
"--controller-manager", "/controller_manager",
],
)
jtc = Node(
package="controller_manager",
executable="spawner",
output="screen",
arguments=[
"iiwa_arm_controller",
"--controller-manager", "/controller_manager",
],
)
torque_controller = Node(
package="controller_manager",
executable="spawner",
output="screen",
arguments=[
"forward_torque_controller",
"--controller-manager", "/controller_manager",
"--inactive",
],
)
jtc_after_jsb = RegisterEventHandler(
OnProcessExit(
target_action=jsb,
on_exit=[jtc, torque_controller],
)
)
return [
ros2_control_node,
jsb,
jtc_after_jsb,
]
def generate_launch_description():
return LaunchDescription([OpaqueFunction(function=_setup_controllers)])
src/iiwa_bringup/launch/supported/gazebo.launch.py
+63
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@@ -0,0 +1,63 @@
from launch import LaunchDescription
from launch.actions import (
IncludeLaunchDescription,
OpaqueFunction,
)
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
def _spawn_setup(context, *args, **kwargs):
robot_name = LaunchConfiguration("robot_name").perform(context)
world = LaunchConfiguration("world").perform(context)
gazebo_config = LaunchConfiguration("gazebo_config").perform(context)
simulate = LaunchConfiguration("simulate").perform(context).lower() in ("true", "1", "yes")
# transform = LaunchConfiguration("transform").perform(context)
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("ros_gz_sim"),
"launch",
"gz_sim.launch.py",
]
)
),
launch_arguments={
"gz_args": f"-r {world}",
"on_exit_shutdown": "true",
}.items(),
)
# TODO: добавить аргументы для transform и rotation
spawn_robot = Node(
package="ros_gz_sim",
executable="create",
name="spawn_iiwa7",
output="screen",
arguments=[
"-topic", "/robot_description",
"-name", robot_name,
"-z", "0.0"
],
)
gz_bridge = Node(
package="ros_gz_bridge",
executable="parameter_bridge",
name="gz_bridge",
output="screen",
parameters=[{
"config_file": gazebo_config,
"use_sim_time": simulate
}],
)
return [gazebo, spawn_robot, gz_bridge]
def generate_launch_description():
return LaunchDescription([OpaqueFunction(function=_spawn_setup)])
src/iiwa_bringup/launch/supported/iiwa_controllers.launch.py
-1
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@@ -33,7 +33,6 @@ def _setup_controllers(context, *args, **kwargs):
],
)
joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
src/iiwa_bringup/launch/universal.launch.py
+223
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@@ -0,0 +1,223 @@
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
EmitEvent,
IncludeLaunchDescription,
OpaqueFunction,
RegisterEventHandler,
SetEnvironmentVariable,
# TimerAction,
)
from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit
from launch.events import Shutdown
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from moveit_configs_utils import MoveItConfigsBuilder
from ament_index_python.packages import get_package_share_directory
from iiwa_utils import converter, setting_loader
def _runtime_setup(context, *args, **kwargs):
setup = []
# Настройка параметров
simulate = LaunchConfiguration("simulate").perform(context) in ("true", "1", "yes")
settings = setting_loader.build_settings(
settings_path=LaunchConfiguration("setting").perform(context),
check_files=True,
)
joint_limits_ros2 = converter.wrap_for_ros2_params(
settings.controller.moveit.joint_limits,
"robot_description_planning",
)
kinematics_ros2 = converter.wrap_for_ros2_params(
settings.controller.moveit.kinematics,
"robot_description_kinematics",
)
description_path = settings.robot.description
if simulate:
xacro_args = {
"initial_positions_file": settings.controller.moveit.initial_positions,
"simulate": "true",
}
use_sim_time = True
else:
xacro_args = {
"initial_positions_file": settings.controller.moveit.initial_positions,
"robot_ip": settings.robot.ip,
"fri_port": str(settings.robot.port),
"simulate": "false",
"command_mode": settings.robot.command_mode,
}
use_sim_time = False
robot_description = converter.load_robot_description(
model_path=description_path,
robot_name=settings.robot.name,
xacro_args=xacro_args,
)
# Вызов нод
rsp_node = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="screen",
parameters=[
{"robot_description": robot_description},
{"use_sim_time": use_sim_time},
],
)
setup += [rsp_node]
# gazebo spawn
if simulate:
gazebo_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("iiwa_bringup"),
"launch", "supported", "gazebo.launch.py",
]
)
),
# TODO: добавить аргументы для transform и rotation и передать их из setting.yaml а также мир
launch_arguments={
"robot_name": settings.robot.name,
"world": "empty.sdf",
"gazebo_config": str(get_package_share_directory("iiwa_config") + "/config/gazebo/gz_bridge.yaml"),
"simulate": "true",
}.items(),
)
setup += [gazebo_launch]
# Controller launch
controllers_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
FindPackageShare("iiwa_bringup"),
"launch",
"supported",
"controllers.launch.py",
]
)
),
launch_arguments={
"robot_name": settings.robot.name,
"description": description_path,
"initial_positions_file": settings.controller.moveit.initial_positions,
# "simulate": str(simulate),
"controller_path": settings.controller.controller_path,
}.items(),
)
# Moveit launch
moveit_configs = (
MoveItConfigsBuilder("iiwa7", package_name="iiwa_config")
.robot_description(
file_path=description_path,
mappings={
"initial_positions_file": settings.controller.moveit.initial_positions
},
)
.robot_description_semantic(file_path=settings.controller.moveit.srdf)
.robot_description_kinematics(file_path=settings.controller.moveit.kinematics)
.joint_limits(file_path=settings.controller.moveit.joint_limits)
.pilz_cartesian_limits(file_path=settings.controller.moveit.pilz_limits)
.trajectory_execution(file_path=settings.controller.moveit.moveit_controllers)
.moveit_cpp(file_path=settings.controller.moveit.moveit_cpp)
.to_moveit_configs()
)
move_group = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[
moveit_configs.to_dict(),
{"robot_description": robot_description},
{"use_sim_time": use_sim_time},
],
)
# Rviz launch
rviz_launch = Node(
condition=IfCondition(LaunchConfiguration("rviz")),
package="rviz2",
executable="rviz2",
name="rviz2",
arguments=["-d", settings.digital_twin.rviz.config],
output="log",
parameters=[
moveit_configs.robot_description,
moveit_configs.robot_description_semantic,
moveit_configs.planning_pipelines,
joint_limits_ros2,
kinematics_ros2,
{"use_sim_time": use_sim_time},
],
)
shutdown_on_rviz_exit = RegisterEventHandler(
OnProcessExit(
target_action=rviz_launch,
on_exit=[EmitEvent(event=Shutdown())],
)
)
setup += [
controllers_launch,
move_group,
rviz_launch,
shutdown_on_rviz_exit
]
return setup
def generate_launch_description():
declare_simulate = DeclareLaunchArgument(
name="simulate",
default_value="false",
description="true = Gazebo симуляция, false = реальный робот через FRI",
)
declare_rviz = DeclareLaunchArgument(
name="rviz",
default_value="false",
description="true = запустить RViz",
)
declare_setting = DeclareLaunchArgument(
name="setting",
default_value=PathJoinSubstitution(
[FindPackageShare("iiwa_config"), "config", "setting.yaml"]
),
description="Путь к файлу настроек",
)
gz_resource_path = SetEnvironmentVariable(
name="GZ_SIM_RESOURCE_PATH",
value=get_package_share_directory("iiwa_description") + "/..",
)
runtime_setup = OpaqueFunction(function=_runtime_setup)
return LaunchDescription([
gz_resource_path,
declare_simulate,
declare_rviz,
declare_setting,
runtime_setup,
])
src/iiwa_config/config/gazebo/gz_bridge.yaml
+29
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@@ -0,0 +1,29 @@
# Формат каждой записи:
# ros_topic_name: имя топика в ROS2
# gz_topic_name: имя топика в Gazebo (можно опустить если совпадает)
# ros_type_name: тип сообщения ROS2
# gz_type_name: тип сообщения Gazebo
# direction: GZ_TO_ROS / ROS_TO_GZ / BIDIRECTIONAL
- ros_topic_name: /clock
gz_topic_name: /clock
ros_type_name: rosgraph_msgs/msg/Clock
gz_type_name: gz.msgs.Clock
direction: GZ_TO_ROS
lazy: false
# Состояния джойнтов из Gazebo в ROS2
- ros_topic_name: /joint_states
gz_topic_name: /world/empty/model/iiwa7/joint_state
ros_type_name: sensor_msgs/msg/JointState
gz_type_name: gz.msgs.Model
direction: GZ_TO_ROS
lazy: false
# TF из Gazebo в ROS2 (поза модели в мире)
- ros_topic_name: /tf
gz_topic_name: /model/iiwa7/pose
ros_type_name: tf2_msgs/msg/TFMessage
gz_type_name: gz.msgs.Pose_V
direction: GZ_TO_ROS
lazy: false
src/iiwa_config/config/moveit/iiwa7.srdf
-3
View File
@@ -43,9 +43,6 @@
<!--PASSIVE JOINTS: MoveIt не ожидает их в /joint_states и не планирует ими.
Геометрия захвата всё равно учитывается при проверке коллизий.-->
<passive_joint name="base_screw"/>
<passive_joint name="craving1_joint"/>
<passive_joint name="craving2_joint"/>
<passive_joint name="craving3_joint"/>
<passive_joint name="finger1_joint"/>
<passive_joint name="finger2_joint"/>
<passive_joint name="finger3_joint"/>
src/iiwa_description/urdf/gripper/___gripper.urdf
+4 -108
View File
@@ -60,82 +60,8 @@
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/screw.stl"/>
</geometry>
</collision>
</link>
<link name="craving1">
<inertial>
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
<material name="alum_plastic">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</collision>
</link>
<link name="craving2">
<inertial>
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
<material name="alum_plastic">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</collision>
</link>
<link name="craving3">
<inertial>
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
<visual name="">
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
<material name="alum_plastic">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
<geometry>
<mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
</geometry>
</collision>
</link>
<link name="finger1">
<inertial>
@@ -207,7 +133,7 @@
</link>
<joint name="base" type="fixed">
<origin xyz="0.0 0.0 61" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 61.3" rpy="0.0 0.0 0.0"/>
<parent link="base_frame"/>
<child link="plate"/>
</joint>
@@ -220,42 +146,12 @@
<limit lower="-7" upper="0.0" effort="0.0" velocity="0.0"/>
</joint>
<joint name="craving1_joint" type="revolute">
<origin xyz="15.5 -9.5 4" rpy="0.0 0 -0.55"/>
<parent link="screw"/>
<child link="craving1"/>
<axis xyz="0.0 1 0.0"/>
<limit lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0"/>
<dynamics damping="0.05" friction="0.05"/>
<mimic joint="base_screw" multiplier="0.0001" offset="-0.25"/>
</joint>
<joint name="craving2_joint" type="revolute">
<origin xyz="-15.5 -9.5 4" rpy="0.0 0 0.55"/>
<parent link="screw"/>
<child link="craving2"/>
<axis xyz="0.0 1 0.0"/>
<limit lower="0.2" upper="0.25" effort="5.0" velocity="1.0"/>
<dynamics damping="0.05" friction="0.05"/>
<mimic joint="base_screw" multiplier="0.0001" offset="0.2"/>
</joint>
<joint name="craving3_joint" type="revolute">
<origin xyz="0 18 4" rpy="0.0 0 1.57"/>
<parent link="screw"/>
<child link="craving3"/>
<axis xyz="0.0 1 0.0"/>
<limit lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0"/>
<dynamics damping="0.05" friction="0.05"/>
<mimic joint="base_screw" multiplier="0.0001" offset="-0.25"/>
</joint>
<joint name="finger1_joint" type="revolute">
<origin xyz="31.5 -18.5 28" rpy="0.0 0.0 -2.12"/>
<parent link="plate"/>
<child link="finger1"/>
<axis xyz="1 0.0 0"/>
<limit lower="-0.2" upper="0.09" effort="0.0" velocity="0.0"/>
<limit lower="-0.2" upper="0.07" effort="0.0" velocity="0.0"/>
<mimic joint="base_screw" multiplier="-0.05" offset="-0.2"/>
</joint>
@@ -264,7 +160,7 @@
<parent link="plate"/>
<child link="finger2"/>
<axis xyz="1 0.0 0"/>
<limit lower="-0.2" upper="0.09" effort="0.0" velocity="0.0"/>
<limit lower="-0.2" upper="0.07" effort="0.0" velocity="0.0"/>
<mimic joint="base_screw" multiplier="-0.05" offset="-0.2"/>
</joint>
@@ -273,7 +169,7 @@
<parent link="plate"/>
<child link="finger3"/>
<axis xyz="1 0.0 0"/>
<limit lower="-0.2" upper="0.09" effort="0.0" velocity="0.0"/>
<limit lower="-0.2" upper="0.07" effort="0.0" velocity="0.0"/>
<mimic joint="base_screw" multiplier="-0.05" offset="-0.2"/>
</joint>
src/iiwa_description/urdf/gripper/gripper.xacro
+1 -4
View File
@@ -1,14 +1,11 @@
<?xml version="1.0"?>
<!-- Захват для Webots digital twin: все суставы fixed, без физики суставов.
Для реального робота используй gripper.xacro. -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
<!-- Digital: box collision вместо mesh, все суставы с правильной физикой -->
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_links.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_joints.xacro"/>
<joint name="gripper_attach_joint" type="fixed">
<origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<parent link="link_ee"/>
<child link="base_frame"/>
</joint>
src/iiwa_description/urdf/gripper/gripper_joints.xacro
+5 -26
View File
@@ -2,9 +2,10 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_macros.xacro"/>
<xacro:arg name="simulate" default="false"/>
<joint name="base_joint" type="fixed">
<origin xyz="0.0 0.0 0.061" rpy="0.0 0.0 0.0"/>
<origin xyz="0.0 0.0 0.0613" rpy="0.0 0.0 0.0"/>
<parent link="base_frame"/>
<child link="plate"/>
</joint>
@@ -16,47 +17,25 @@
lower="-0.007" upper="0.0"
effort="50.0" velocity="0.05"/>
<xacro:mimic_revolute_joint jname="craving1_joint"
parent="screw" child="craving1"
xyz="0.0155 -0.0095 0.004" rpy="0.0 0 -0.55"
axis="0.0 1 0.0"
lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0" damping="0.05"
mimic_joint="base_screw" multiplier="0.1" mimic_offset="-0.25"/>
<xacro:mimic_revolute_joint jname="craving2_joint"
parent="screw" child="craving2"
xyz="-0.0155 -0.0095 0.004" rpy="0.0 0 0.55"
axis="0.0 1 0.0"
lower="0.2" upper="0.25" effort="5.0" velocity="1.0" damping="0.05"
mimic_joint="base_screw" multiplier="0.1" mimic_offset="0.2"/>
<xacro:mimic_revolute_joint jname="craving3_joint"
parent="screw" child="craving3"
xyz="0 0.018 0.004" rpy="0.0 0 1.57"
axis="0.0 1 0.0"
lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0" damping="0.05"
mimic_joint="base_screw" multiplier="0.1" mimic_offset="-0.25"/>
<xacro:mimic_revolute_joint jname="finger1_joint"
parent="plate" child="finger1"
xyz="0.0315 -0.0185 0.028" rpy="0.0 0.0 -2.12"
axis="1 0.0 0"
lower="-0.2" upper="0.09" effort="5.0" velocity="1.0" damping="0.0"
lower="-0.2" upper="0.07" effort="5.0" velocity="1.0" damping="0.0"
mimic_joint="base_screw" multiplier="-50" mimic_offset="-0.2"/>
<xacro:mimic_revolute_joint jname="finger2_joint"
parent="plate" child="finger2"
xyz="-0.0315 -0.0185 0.028" rpy="0.0 0.0 2.12"
axis="1 0.0 0"
lower="-0.2" upper="0.09" effort="5.0" velocity="1.0" damping="0.0"
lower="-0.2" upper="0.07" effort="5.0" velocity="1.0" damping="0.0"
mimic_joint="base_screw" multiplier="-50" mimic_offset="-0.2"/>
<xacro:mimic_revolute_joint jname="finger3_joint"
parent="plate" child="finger3"
xyz="0 0.037 0.028" rpy="0.0 0.0 0.0"
axis="1 0.0 0"
lower="-0.2" upper="0.09" effort="5.0" velocity="1.0" damping="0.0"
lower="-0.2" upper="0.07" effort="5.0" velocity="1.0" damping="0.0"
mimic_joint="base_screw" multiplier="-50" mimic_offset="-0.2"/>
</robot>
src/iiwa_description/urdf/gripper/gripper_links.xacro
+7 -48
View File
@@ -1,10 +1,7 @@
<?xml version="1.0"?>
<!-- Links захвата для Webots digital twin.
Использует gripper_macros_digital.xacro: visual=mesh, collision=box.
Размеры box определены по смещениям суставов и геометрии захвата. -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_macros_digital.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_macros.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_meshes.xacro"/>
<xacro:property name="gripper_dark_r" value="0.05"/>
@@ -19,73 +16,37 @@
<xacro:property name="gripper_finger_g" value="0.8"/>
<xacro:property name="gripper_finger_b" value="1.0"/>
<!-- base_frame: основной корпус ~44×44×72mm -->
<xacro:gripper_link name="base_frame"
mass="0.3" xyz_iner="0 0 0.035"
ixx="0.00024" ixy="0.0" ixz="0.0"
iyy="0.00024" iyz="0.0" izz="0.00016"
mesh="${mesh_gripper_base_frame}"
visual_xyz="-0.021 -0.021 0.006" visual_rpy="0 0 0"
r="${gripper_dark_r}" g="${gripper_dark_g}" b="${gripper_dark_b}" a="1.0"
box_x="0.044" box_y="0.044" box_z="0.072" box_xyz="0 0 0.036"/>
r="${gripper_dark_r}" g="${gripper_dark_g}" b="${gripper_dark_b}" a="1.0"/>
<!-- plate: пластина ~70×70×10mm -->
<xacro:gripper_link name="plate"
mass="0.15" xyz_iner="0 0 0"
ixx="0.00012" ixy="0.0" ixz="0.0"
iyy="0.00012" iyz="0.0" izz="0.00018"
mesh="${mesh_gripper_plate}"
visual_xyz="0 0 0" visual_rpy="0 0 0"
r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
box_x="0.070" box_y="0.070" box_z="0.012" box_xyz="0 0 0.006"/>
r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"/>
<!-- screw: ходовой винт ~20×20×15mm -->
<xacro:gripper_link name="screw"
mass="0.03" xyz_iner="0 0 0"
ixx="0.000024" ixy="0.0" ixz="0.0"
iyy="0.000024" iyz="0.0" izz="0.000012"
mesh="${mesh_gripper_screw}"
visual_xyz="0 0 0" visual_rpy="0 0 0"
r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
box_x="0.020" box_y="0.020" box_z="0.015" box_xyz="0 0 0"/>
r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"/>
<!-- craving1/2/3: кулачки ~12×12×35mm -->
<xacro:gripper_link name="craving1"
mass="0.01" xyz_iner="0 0 0"
ixx="0.000008" ixy="0.0" ixz="0.0"
iyy="0.000008" iyz="0.0" izz="0.000004"
mesh="${mesh_gripper_craving}"
visual_xyz="-0.004 -0.007 0.019" visual_rpy="0 1.57 0"
r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
box_x="0.012" box_y="0.012" box_z="0.035" box_xyz="0 0 0.017"/>
<xacro:gripper_link name="craving2"
mass="0.01" xyz_iner="0 0 0"
ixx="0.000008" ixy="0.0" ixz="0.0"
iyy="0.000008" iyz="0.0" izz="0.000004"
mesh="${mesh_gripper_craving}"
visual_xyz="-0.004 -0.007 0.019" visual_rpy="0 1.57 0"
r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
box_x="0.012" box_y="0.012" box_z="0.035" box_xyz="0 0 0.017"/>
<xacro:gripper_link name="craving3"
mass="0.01" xyz_iner="0 0 0"
ixx="0.000008" ixy="0.0" ixz="0.0"
iyy="0.000008" iyz="0.0" izz="0.000004"
mesh="${mesh_gripper_craving}"
visual_xyz="-0.004 -0.007 0.019" visual_rpy="0 1.57 0"
r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
box_x="0.012" box_y="0.012" box_z="0.035" box_xyz="0 0 0.017"/>
<!-- finger1/2/3: пальцы ~10×10×40mm -->
<xacro:gripper_link name="finger1"
mass="0.015" xyz_iner="0 0 0"
ixx="0.000012" ixy="0.0" ixz="0.0"
iyy="0.000012" iyz="0.0" izz="0.000004"
mesh="${mesh_gripper_finger}"
visual_xyz="0.009 -0.025 0.005" visual_rpy="0 -1.57 0"
r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"
box_x="0.010" box_y="0.010" box_z="0.040" box_xyz="0 0 0.020"/>
r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"/>
<xacro:gripper_link name="finger2"
mass="0.015" xyz_iner="0 0 0"
@@ -93,8 +54,7 @@
iyy="0.000012" iyz="0.0" izz="0.000004"
mesh="${mesh_gripper_finger}"
visual_xyz="0.009 -0.025 0.005" visual_rpy="0 -1.57 0"
r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"
box_x="0.010" box_y="0.010" box_z="0.040" box_xyz="0 0 0.020"/>
r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"/>
<xacro:gripper_link name="finger3"
mass="0.015" xyz_iner="0 0 0"
@@ -102,7 +62,6 @@
iyy="0.000012" iyz="0.0" izz="0.000004"
mesh="${mesh_gripper_finger}"
visual_xyz="0.009 -0.025 0.005" visual_rpy="0 -1.57 0"
r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"
box_x="0.010" box_y="0.010" box_z="0.040" box_xyz="0 0 0.020"/>
r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"/>
</robot>
src/iiwa_description/urdf/gripper/gripper_macros.xacro
+24 -9
View File
@@ -1,15 +1,11 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
<xacro:macro name="gripper_link"
params="name mass
ixx ixy ixz iyy iyz izz xyz_iner
mesh
visual_xyz visual_rpy
r g b a
box_x box_y box_z box_xyz">
mesh visual_xyz visual_rpy
r g b a">
<link name="${name}">
<inertial>
<origin xyz="${xyz_iner}" rpy="0 0 0"/>
@@ -27,14 +23,33 @@
</material>
</visual>
<collision>
<origin xyz="${box_xyz}" rpy="0 0 0"/>
<origin xyz="${visual_xyz}" rpy="${visual_rpy}"/>
<geometry>
<box size="${box_x} ${box_y} ${box_z}"/>
<mesh filename="${mesh}" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
</xacro:macro>
<gazebo reference="${name}">
<visual>
<material>
<ambient>${r} ${g} ${b} ${a}</ambient>
<diffuse>${r} ${g} ${b} ${a}</diffuse>
<specular>0.3 0.3 0.3 1.0</specular>
</material>
</visual>
<collision>
<surface>
<friction>
<ode><mu>1.0</mu><mu2>1.0</mu2></ode>
</friction>
<contact>
<ode><kp>1000000.0</kp><kd>100.0</kd></ode>
</contact>
</surface>
</collision>
</gazebo>
</xacro:macro>
<xacro:macro name="prismatic_joint"
params="jname parent child xyz rpy axis lower upper effort velocity">
src/iiwa_description/urdf/gripper/gripper_meshes.xacro
-1
View File
@@ -7,7 +7,6 @@
<xacro:property name="mesh_gripper_base_frame" value="${gripper_pkg}/base_frame.stl"/>
<xacro:property name="mesh_gripper_plate" value="${gripper_pkg}/plate.stl"/>
<xacro:property name="mesh_gripper_screw" value="${gripper_pkg}/screw.stl"/>
<xacro:property name="mesh_gripper_craving" value="${gripper_pkg}/craving.stl"/>
<xacro:property name="mesh_gripper_finger" value="${gripper_pkg}/finger_plates.stl"/>
</robot>
src/iiwa_description/urdf/iiwa7_digital.urdf.xacro
+43 -37
View File
@@ -4,6 +4,13 @@
<!-- Аргукменты -->
<xacro:arg name="initial_positions_file"
default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
<xacro:arg name="simulate" default="false"/>
<!-- Аргументы только для реального робота -->
<xacro:arg name="robot_ip" default="192.170.10.2"/>
<xacro:arg name="fri_port" default="30200"/>
<xacro:arg name="command_mode" default="position"/>
<xacro:property name="initial_positions"
value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
@@ -15,24 +22,49 @@
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/>
<webots>
<plugin type="webots_ros2_control::Ros2Control"/>
</webots>
<xacro:if value="$(arg simulate)">
<gazebo>
<plugin filename="gz_ros2_control-system"
name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find iiwa_config)/config/moveit/iiwa_controller.yaml</parameters>
<ros>
<remapping>~/robot_description:=/robot_description</remapping>
</ros>
</plugin>
</gazebo>
</xacro:if>
<ros2_control name="iiwaWebotsControl" type="system">
<!-- <webots>
<plugin type="webots_ros2_control::Ros2Control"/>
</webots> -->
<ros2_control name="iiwaControl" type="system">
<xacro:if value="$(arg simulate)">
<hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
</xacro:if>
<hardware>
<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
<param name="robot_ip">$(arg robot_ip)</param>
<param name="fri_port">$(arg fri_port)</param>
<param name="simulate">$(arg simulate)</param>
<param name="command_mode">$(arg command_mode)</param>
</hardware>
<!-- <hardware>
<plugin>webots_ros2_control::Ros2ControlSystem</plugin>
</hardware> -->
<joint name="joint1">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint1']}</param>
</state_interface>
@@ -45,10 +77,6 @@
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint2']}</param>
</state_interface>
@@ -61,10 +89,6 @@
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint3']}</param>
</state_interface>
@@ -77,10 +101,6 @@
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint4']}</param>
</state_interface>
@@ -93,10 +113,6 @@
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint5']}</param>
</state_interface>
@@ -109,10 +125,6 @@
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint6']}</param>
</state_interface>
@@ -125,10 +137,6 @@
<param name="min">-3.05</param>
<param name="max"> 3.05</param>
</command_interface>
<command_interface name="effort">
<param name="min">-320</param>
<param name="max"> 320</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint7']}</param>
</state_interface>
@@ -136,16 +144,14 @@
<state_interface name="effort"/>
</joint>
<!-- Захват -->
<!-- <joint name="base_screw">
<joint name="base_screw">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint> -->
</joint>
</ros2_control>
</robot>
src/iiwa_description/urdf/iiwa7_fri.urdf.xacro
+120 -7
View File
@@ -1,13 +1,11 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iiwa7">
<xacro:arg name="initial_positions_file"
default="$(find iiwa_config)/config/moveit/initial_positions.yaml"/>
<xacro:arg name="simulate" default="false"/>
<xacro:arg name="robot_ip" default="192.170.10.2"/>
<xacro:arg name="fri_port" default="30200"/>
<xacro:arg name="simulate" default="false"/>
<xacro:arg name="command_mode" default="position"/>
<xacro:property name="initial_positions"
@@ -19,16 +17,129 @@
<xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
<xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/>
<ros2_control name="iiwaFRIControl" type="system">
<xacro:if value="$(arg simulate)">
<gazebo>
<plugin filename="gz_ros2_control-system"
name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find iiwa_config)/config/moveit/iiwa_controller.yaml</parameters>
<ros>
<remapping>~/robot_description:=/robot_description</remapping>
</ros>
</plugin>
</gazebo>
<ros2_control name="iiwaGazeboControl" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="joint1">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint2">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint3">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint4">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint5">
<command_interface name="position">
<param name="min">-2.97</param>
<param name="max"> 2.97</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint6">
<command_interface name="position">
<param name="min">-2.09</param>
<param name="max"> 2.09</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="joint7">
<command_interface name="position">
<param name="min">-3.05</param>
<param name="max"> 3.05</param>
</command_interface>
<state_interface name="position">
<param name="initial_value">${initial_positions['joint7']}</param>
</state_interface>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="base_screw">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:if>
<xacro:unless value="$(arg simulate)">
<ros2_control name="iiwaFRIControl" type="system">
<hardware>
<plugin>iiwa_controller/IIWAHardwareInterface</plugin>
<param name="robot_ip">$(arg robot_ip)</param>
<param name="fri_port">$(arg fri_port)</param>
<param name="simulate">$(arg simulate)</param>
<param name="simulate">false</param>
<param name="command_mode">$(arg command_mode)</param>
</hardware>
<joint name="joint1">
@@ -145,4 +256,6 @@
</ros2_control>
</xacro:unless>
</robot>
src/iiwa_description/urdf/macros.xacro
+11
View File
@@ -27,6 +27,17 @@
</geometry>
</collision>
</link>
<gazebo reference="${name}">
<visual>
<material>
<ambient>${color_r * 0.7} ${color_g * 0.7} ${color_b * 0.7} ${color_a}</ambient>
<diffuse>${color_r} ${color_g} ${color_b} ${color_a}</diffuse>
<specular>0.3 0.3 0.3 1.0</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
</gazebo>
</xacro:macro>
<!-- Макрос для описания соединений -->
src/iiwa_utils/iiwa_utils/converter.py
+13
View File
@@ -1,3 +1,6 @@
import yaml
import tempfile
from pathlib import Path
from typing import Dict, Optional, Union
@@ -23,3 +26,13 @@ def load_robot_description(
return model_path.read_text(encoding="utf-8")
raise FileNotFoundError(f"Supported file formats: .xacro/.urdf, got: {model_path}")
def wrap_for_ros2_params(yaml_path: str, namespace: str) -> str:
with open(yaml_path, "r") as f:
data = yaml.safe_load(f)
wrapped = {namespace: {"ros__parameters": data}}
tmp = tempfile.NamedTemporaryFile(mode="w", suffix=".yaml", delete=False)
yaml.dump(wrapped, tmp, default_flow_style=False)
tmp.close()
return tmp.name
src/iiwa_utils/iiwa_utils/setting_loader.py
+2
View File
@@ -229,3 +229,5 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
assert_file(s.controller.moveit.moveit_cpp, "controller.moveit.moveit_cpp")
return s